Income Taxes - Difference in Actual Income Tax Expense Computed by Applying the Statutory Federal Income Tax Rate to Loss Before Income Taxes (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Line Items]
Computed tax (benefit) at 21%	$ (4,532,565)	$ (3,586,925)
State taxes, net of federal benefit	(989,018)	(1,177,951)
Stock-based compensation	128,789	240,177
Foreign tax rate differential	5,635	(2,171)
Return to provision	13,047	53,340
Nontaxable loan forgiveness	(0)	(360,570)
Other	17,615	9,048
Uncertain tax position adjustment for prior periods	(8,856)	(6,395)
Increase in valuation allowance	5,847,071	5,331,692
Total income tax expense	10,837	22,475
State
Income Tax Disclosure [Line Items]
Research and development tax credit	(234,971)	(265,362)
Federal
Income Tax Disclosure [Line Items]
Research and development tax credit	$ (235,910)	$ (212,408)